VIBRATION REDUCTION DEVICE FOR ROBOT

• Main Authors: NOSE MATSUO, ABE TAMOTSU
• Format: Patent
• Language: English
• Published: 13.10.1995
• Edition: 6
• Subjects: BLASTING; CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; ENGINEERING ELEMENTS AND UNITS; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVEFUNCTIONING OF MACHINES OR INSTALLATIONS; HAND TOOLS; HEATING; LIGHTING; MANIPULATORS; MEANS FOR DAMPING VIBRATION; MECHANICAL ENGINEERING; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; SHOCK-ABSORBERS; SPRINGS; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; THERMAL INSULATION IN GENERAL; TRANSPORTING; WEAPONS

PURPOSE:To securely reduce vibration generated during the operation of a robot at low cost by removing from a control signal a frequency component corresponding to the natural vibration frequency of a robot shaft outputted from a neural network. CONSTITUTION:During the robot operation, a neural network arithmetic part 5 inputs target positions of respective robot shafts J1-J6 outputted from an inverse transformation arithmetic part 2 and sequentially calculates and outputs natural vibration frequencies fn1-fn6 of the respective robot shafts J1-J6. Then a variable notch filter arithmetic part 4 removes a frequency component in a specific range having its center frequency at a notch frequency fN from an inputted signal of a manipulated variable (v) while denoting the natural vibration frequency fn of the controlled system (robot shaft) as the notch frequency fN, and applies the result to a robot shaft driving source in sequence. Consequently, even if the robot attitude changes abruptly, that can be followed up and the vibration that the robot generates is securely removed.